#!/usr/bin/env python

# Copyright (c) 2013-2015, Rethink Robotics
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"""
Baxter RSDK Head Action Server
"""
import argparse

import rospy

from dynamic_reconfigure.server import Server

from baxter_interface.cfg import (
    HeadActionServerConfig
)
from head_action.head_action import (
    HeadActionServer,
)


def start_server():
    print("Initializing node... ")
    rospy.init_node("rsdk_head_action_server")
    print("Initializing head action server...")

    dynamic_cfg_srv = Server(HeadActionServerConfig,
                             lambda config, level: config)

    HeadActionServer(dynamic_cfg_srv)
    print("Running. Ctrl-c to quit")
    rospy.spin()

def main():
    start_server()

if __name__ == "__main__":
    main()
